CN116863732A - Lane-changing blind area monitoring and early warning method and system based on Bluetooth headset helmet - Google Patents
Lane-changing blind area monitoring and early warning method and system based on Bluetooth headset helmet Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention provides a lane change blind area monitoring and early warning method and system based on a Bluetooth headset helmet, wherein the system comprises an obstacle scanning module, a control module and a Bluetooth headset, wherein a field of view of the obstacle scanning module covers a vehicle blind area, the Bluetooth headset is arranged on the helmet, and the obstacle scanning module acquires obstacle scanning data of the vehicle blind area according to lane change instructions of the vehicle; the control module sends out a vehicle lane change instruction according to the operation of a driver and acquires the running information of the vehicle, acquires barrier scanning data of a vehicle blind area according to the vehicle lane change instruction, and identifies the position information, the movement speed and the movement direction of the barrier according to the barrier scanning data; judging whether the lane change condition is met or not according to the position information, the speed and the movement direction of the obstacle and the self-driving information, and sending an alarm instruction to the Bluetooth headset according to a judging result; the Bluetooth earphone sends out a voice prompt according to the alarm instruction. The invention monitors the obstacle movement condition of the dead zone of the vehicle to perform lane change early warning, and improves lane change safety.
Description
Technical Field
The invention relates to the technical field of early warning and monitoring, in particular to a lane change blind zone monitoring and early warning method and system based on a Bluetooth headset helmet.
Background
Because of the requirement of road traffic safety, drivers of two-wheelers such as motorcycles and the like wear a safety helmet, but the visual field of the safety helmet and the visual range of left and right rearview mirrors of the two-wheelers are limited, and visual blind areas are easy to generate. Especially under certain riding speed, the driver can not judge the condition of coming vehicle very accurately in a short time by looking over the left and right rearview mirrors through the helmet window in the riding process. In addition, under special weather conditions such as heavy rain, heavy fog, dim night light, etc., the rear vehicle is more difficult to observe through the rearview mirror due to low visibility, and a larger blind area may be generated, so that the driving process becomes more dangerous, for example, danger is very easy to occur when riding and changing a road.
In addition, at present, more and more popular in intellectualization, a great number of motorcycle helmets are equipped with the function of Bluetooth headset, so that a driver can listen to navigation at any time to plan a route, and can transfer information according to interconnection of the headset, a car machine, a mobile phone and other equipment to be converted into voice prompt to avoid dangerous road conditions, make emergency measures when riding in advance and the like. How to use the helmet based on the Bluetooth headset solves the problem that the visual blind area in the riding process of the two-wheel vehicle is, so that the driving safety is improved, and the problem is worthy of research.
Therefore, the two-wheel vehicle needs a lane-changing blind area monitoring and early warning system based on the Bluetooth headset helmet, and monitors left and right vehicles when riding lane-changing and reminds a driver by combining Bluetooth headset voice to prevent traffic safety accidents.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a lane change blind zone monitoring and early warning method based on a Bluetooth headset helmet, so as to realize blind zone monitoring and early warning before lane change and prevent safety accidents caused by visual blind zones during lane change.
According to a first aspect of the invention, a lane change blind area monitoring and early warning method based on a Bluetooth headset helmet is provided, comprising the following steps:
acquiring vehicle running information, acquiring obstacle scanning data of a vehicle blind area according to a vehicle lane change instruction, and identifying position information, movement speed and movement direction of an obstacle according to the obstacle scanning data;
judging whether the lane change condition is met according to the position information, the speed and the movement direction of the obstacle and the self-driving information, and sending an alarm instruction to a Bluetooth headset on the helmet according to a judging result.
On the basis of the technical scheme, the invention can also make the following improvements.
Optionally, the obstacle scanning data is ultrasonic point cloud data, millimeter wave point cloud data or laser point cloud data.
Optionally, the identifying the position information, the movement speed and the movement direction of the obstacle according to the obstacle scanning data includes:
calculating the movement speed and movement direction of the obstacle and the relative position relation between the obstacle and the vehicle according to the obstacle scanning data at the adjacent sampling time;
and obtaining the vehicle coordinate information according to the vehicle driving information, and calculating the position information of the obstacle according to the relative position relation and the vehicle coordinate information.
Optionally, determining whether the lane change condition is satisfied according to the position information, the speed, the movement direction and the driving information of the vehicle of the obstacle includes:
when it is determined that the obstacle is located at the rear side of the vehicle based on the position information of the obstacle, it is assumed that the obstacle always maintains the current speed v Barrier And the movement direction, and in the course of changing lane of the bicycle, the movement direction and speed v of the bicycle Variable The method comprises the steps of keeping unchanged, and obtaining an included angle beta between the moving direction of the vehicle and the moving direction of the obstacle in the lane changing process;
defining the coordinates of the vehicle as a point A, the coordinates of the obstacle as a point B, the intersection point of the movement direction of the vehicle and the movement direction of the obstacle during lane change as a point C, and the drop foot of the point A on a straight line BC as a point D, wherein the straight line distance between the vehicle and the obstacle is L AB The included angle between the movement direction of the obstacle and the line segment between the obstacle and the vehicle is alpha, and the displacement of the vehicle from the point A to the point C is S AC The time from the point B to the point C of the obstacle is t1; moving with obstacleThe direction is Y, the vertical obstacle movement direction is X, and the safety distance between the vehicle and the obstacle in the Y direction is preset to be L Y The safety distance between the X-direction self-vehicle and the obstacle is L X The conditions that allow the lane change satisfy at least the following relation:
v barrier ·t1+L Y ≤v Variable ·t1·cosβ+L AB ·cosα，
L AB ·sinα+L X ≤v Variable ·t1·sinβ，
Wherein, the lane changing speed v of the bicycle Variable And the included angle beta is a preset value obtained according to experience, and the straight line distance L between the bicycle and the obstacle AB And the included angle alpha is a detection value, and the movement speed v of the obstacle Barrier According to the identification of the obstacle scanning data, the safety distance L Y And a safety distance L X Is a set value.
Optionally, the determining whether the lane change condition is met according to the position information, the speed, the movement direction and the driving information of the obstacle includes:
if it is determined that the obstacle is located right behind the own vehicle based on the position information of the obstacle, it is assumed that the obstacle always maintains the current speed v Barrier And the movement direction, and in the course of changing lane of the bicycle, the movement direction and speed v of the bicycle Variable The method comprises the steps of keeping unchanged, and obtaining an included angle beta between the moving direction of the vehicle and the moving direction of the obstacle in the lane changing process;
defining the coordinates of the vehicle as a point A, the coordinates of the obstacle as a point B, and the vehicle is positioned at a point E when lane changing is completed, wherein the vertical foot of the point E in the movement direction of the obstacle is a point F, and the linear distance between the vehicle and the obstacle is L AB The time for the obstacle to move from point B to point F is t2; taking the movement direction of the obstacle as the Y direction, taking the vertical movement direction of the obstacle as the X direction, and presetting the safety distance between the self-vehicle and the obstacle in the Y direction as L Y The safety distance between the X-direction self-vehicle and the obstacle is L X The conditions that allow the lane change satisfy at least the following relation:
v rotation ·t2·sinβ≥L X ，
v Rotation ·t2·cosβ+L AB ≥v Barrier ·t+L Y ，
Wherein, the lane changing speed v of the bicycle Variable And the included angle beta is a preset value obtained according to experience, and the straight line distance L between the bicycle and the obstacle AB For detecting the value, the speed v of movement of the obstacle Barrier According to the identification of the obstacle scanning data, the safety distance L Y And a safety distance L X Is a set value.
Optionally, the sending an alarm instruction to the bluetooth headset on the helmet according to the judging result includes:
if the safe lane change is judged, a lane change Bluetooth instruction is sent to a Bluetooth earphone on the helmet, and the Bluetooth earphone broadcasts a lane change voice prompt through voice;
if the invariable channel is judged, a Bluetooth instruction of the invariable channel is sent to a Bluetooth earphone on the helmet, and the Bluetooth earphone broadcasts a voice prompt of the invariable channel through voice.
According to a second aspect of the present invention, there is provided a lane change blind zone monitoring and early warning system based on a bluetooth headset helmet, comprising:
comprises an obstacle scanning module, a control module and a Bluetooth headset, wherein the obstacle scanning module is arranged on a car body, the view field of the obstacle scanning module covers the dead zone of the car, the Bluetooth headset is arranged on a helmet,
the obstacle scanning module is used for acquiring obstacle scanning data of a vehicle blind area according to a vehicle lane change instruction;
the control module is used for sending out a vehicle lane change instruction according to the operation of a driver and acquiring self-vehicle running information, acquiring barrier scanning data of a vehicle blind area according to the vehicle lane change instruction, and identifying the position information, the movement speed and the movement direction of a barrier according to the barrier scanning data; the device is also used for judging whether the lane change condition is met according to the position information, the speed and the movement direction of the obstacle and the driving information of the bicycle, and sending an alarm instruction to a Bluetooth headset on the helmet according to a judgment result;
the Bluetooth headset is used for sending out voice prompts according to the alarm instruction.
Optionally, the obstacle scanning module is an ultrasonic radar, a millimeter wave radar or a laser radar.
According to a third aspect of the present invention, there is provided an electronic device, including a memory and a processor, where the processor is configured to implement the above-mentioned lane change blind area monitoring and early warning method based on a bluetooth headset helmet when executing a computer management program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer management program, which when executed by a processor, implements the steps of the lane change blind area monitoring and early warning method based on a bluetooth headset helmet.
The invention provides a lane change blind area monitoring and early warning method, a system, electronic equipment and a storage medium based on a Bluetooth headset helmet, which are based on point cloud scanning devices arranged at the left, right and rear of a vehicle, and can continuously detect blind areas at two sides and rear of the vehicle in the running process of a two-wheel vehicle, and can detect the current position, running speed, running direction and other barrier information of other vehicles on a side lane in a certain range. Judging real-time lane change risks by taking obstacle information and movement information of the obstacles in the dead zone obtained by scanning as basis relative to the vehicle, if the lane change risks exist in the current situation, converting the dangerous information into Bluetooth instructions, sending the instructions to Bluetooth headphones in the helmet through the Bluetooth channels by the lane change early warning system, and informing a driver of the corresponding prompt language by using voice TTS broadcasting after the Bluetooth headphones receive the instructions, so that the possibility that the driver is dangerous because the lane change of the rear vehicle is not observed is avoided. The driver is pre-warned through the Bluetooth headset in the helmet, so that the interference to irrelevant personnel during pre-warning prompt is avoided.
Drawings
FIG. 1 is a schematic view of the range of blind areas behind a vehicle during driving of a two-wheeled vehicle;
fig. 2 is a flowchart of a lane change blind area monitoring and early warning method based on a Bluetooth headset helmet;
FIG. 3 is a schematic view of a path where two vehicles meet during lane change with an obstacle located behind the side of the vehicle;
FIG. 4 is a schematic view of a path where two vehicles meet during lane change with an obstacle located directly behind the vehicle;
fig. 5 is a schematic diagram of hardware components of a lane change blind zone monitoring and early warning system based on a Bluetooth headset helmet;
fig. 6 is a schematic hardware structure of one possible electronic device according to the present invention;
fig. 7 is a schematic hardware structure of a possible computer readable storage medium according to the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Fig. 1 is a schematic view of a blind area of a two-wheeled vehicle during traveling, and as shown in fig. 1, the blind area of the two-wheeled vehicle often includes rear areas on both sides of the vehicle and a right rear area.
Fig. 2 is a flowchart of a lane change blind area monitoring and early warning method based on a bluetooth headset helmet, as shown in fig. 2, the method includes:
acquiring vehicle running information, acquiring obstacle scanning data of a vehicle blind area according to a vehicle lane change instruction, and identifying position information, movement speed and movement direction of an obstacle according to the obstacle scanning data;
judging whether the lane change condition is met according to the position information, the speed and the movement direction of the obstacle and the self-driving information, and sending an alarm instruction to a Bluetooth headset on the helmet according to a judging result.
It can be appreciated that based on the defects in the background technology, the embodiment of the invention provides a lane change blind area monitoring and early warning method based on a Bluetooth headset helmet, so as to solve the problem that obstacles such as vehicles and pedestrians in the blind area are difficult to consider when lane change requirements exist in the driving process of a two-wheeled vehicle, and the time of safely changing lanes is difficult to accurately judge. In this embodiment, a scanning device with a field of view covering a blind area is installed at the rear of the vehicle and/or the rear of the vehicle side, and is used for acquiring obstacle scanning data of the blind area of the vehicle. When a driver sends out a lane change intention, for example, a steering lamp is turned on, a lane change blind area monitoring and early warning function is turned on when a monitoring and early warning system recognizes a lane change instruction of a vehicle, then obstacle scanning data of the vehicle blind area are obtained in a point cloud scanning mode, and whether the current condition of safety lane change is met is judged according to the position information, the movement speed and the movement direction of the obstacle in the recognized vehicle blind area; if the safety lane change condition is met, reminding a driver that the lane can be safely changed; if the lane change cannot be performed safely, voice early warning is performed through the Bluetooth headset, so that the possibility that a driver is dangerous because the lane change of a rear vehicle is not observed is avoided. Meanwhile, the Bluetooth headset in the helmet is used for early warning the driver, so that interference to irrelevant people during early warning prompt is avoided.
In a possible embodiment, the obstacle scan data is ultrasonic point cloud data, millimeter wave point cloud data, or laser point cloud data.
It can be understood that the obstacle is detected by adopting a point cloud data scanning mode, so that the dependence of a detection result on weather conditions can be reduced, and the obstacle detection device can be used all the time. For example, the system can work normally in the days, nights, fog snow, heavy rain and other weather, the system can adapt to more scenes and weather, and a plurality of targets at 0.3 m-15 m on two sides of a two-wheel vehicle can be monitored in all directions by adopting point cloud scanning devices with different precision grades, such as millimeter wave radars.
In a possible embodiment, the identifying the position information, the movement speed, and the movement direction of the obstacle according to the obstacle scan data includes:
calculating the movement speed and movement direction of the obstacle and the relative position relation between the obstacle and the vehicle according to the obstacle scanning data at the adjacent sampling time;
and obtaining the vehicle coordinate information according to the vehicle driving information, and calculating the position information of the obstacle according to the relative position relation and the vehicle coordinate information.
It can be understood that before lane change, the state of the obstacle and the vehicle are all forward running, and only the lane change intention of the vehicle is considered. Assuming that the movement speed and movement direction of the obstacle are constant at adjacent sampling moments, the obtained position information of the obstacle at least comprises the coordinate position of the obstacle, the linear distance between the obstacle and the vehicle, the movement direction of the obstacle and the included angle alpha between the obstacle and the connecting line of the vehicle.
The position information, the movement speed and the movement direction of the obstacle identified from the obstacle scan data can then be combined with the information of the own vehicle to determine whether the conditions for safe lane change are present.
As shown in fig. 1, since the blind area includes the area behind the two sides of the vehicle and the area behind the vehicle, we can distinguish the blind area for reprocessing when judging.
In one possible embodiment, determining whether the lane change condition is satisfied according to the position information, the speed, the movement direction, and the self-driving information of the obstacle includes:
(1) Judging the position of the obstacle relative to the vehicle according to the position information of the obstacle, and when judging that the obstacle is positioned at the rear side of the vehicle, judging that the relative position relationship between the obstacle and the vehicle is shown in fig. 3; the determination method for satisfying the lane change condition is the same as long as the lane change is performed toward one side of the obstacle, regardless of whether the obstacle is located behind the left side or behind the right side of the vehicle.
(2) As shown in FIG. 3, the speed of the vehicle before lane change is v Vehicle with a frame The moving direction of the vehicle is consistent with the moving direction of the obstacle, and the vehicle runs forwards along the lane where the vehicle is located. Assuming that the obstacle always maintains the current speed v Barrier And the movement direction, and in the course of changing lane of the bicycle, the movement direction and speed v of the bicycle Variable And (3) keeping unchanged, and acquiring an included angle beta between the moving direction of the vehicle and the moving direction of the obstacle in the lane changing process.
(3) As shown in fig. 3, defining a self-vehicle coordinate as a point a, an obstacle coordinate as a point B, and a point C at the intersection of the movement direction of the self-vehicle and the movement direction of the obstacle during lane change, wherein collision occurs if the self-vehicle meets the obstacle at the point C after lane change; the foot drop of the point A on the straight line BC is the pointD, the straight line distance between the vehicle and the obstacle is L AB The included angle between the movement direction of the obstacle and the line segment between the obstacle and the vehicle is alpha, and the displacement of the vehicle from the point A to the point C is S AC When the time from the point B to the point C of the obstacle is t1, S is present BC ＝v Barrier * t1; taking the movement direction of the obstacle as the Y direction, taking the vertical movement direction of the obstacle as the X direction, and presetting the safety distance between the self-vehicle and the obstacle in the Y direction as L Y The safety distance between the X-direction self-vehicle and the obstacle is L X The conditions that allow the lane change satisfy at least the following relation:
v barrier ·t1+L Y ≤v Variable ·t1·cosβ+L AB ·cosα (1)，
L AB ·sinα+L X ≤v Variable ·t1·sinβ (2)，
Wherein, the lane changing speed v of the bicycle Variable And the angle beta is a preset value obtained empirically, such as lane change speed v Variable And the included angle beta takes a representative value in the course of changing the road of the two-wheel vehicle obtained according to a plurality of tests; straight line distance L between vehicle and obstacle AB And the included angle alpha is a detection value, and the movement speed v of the obstacle Barrier According to the identification of the obstacle scanning data, the safety distance L Y And a safety distance L X The minimum distance value that the vehicle and the obstacle do not collide with each other is empirically set.
It can be understood that the above relation (1) is a condition for judging whether the safe lane change is satisfied from the Y direction, and the relation (2) is a condition for judging whether the safe lane change is satisfied from the X direction, that is, whether the distance margin between the transverse direction and the longitudinal direction after lane change satisfies the safe lane change requirement is comprehensively evaluated through the transverse and longitudinal judgment.
In one possible embodiment, fig. 4 illustrates the situation where the obstacle is located directly behind the vehicle. In the state shown in fig. 4, the determining whether the lane change condition is satisfied according to the position information, the speed, the movement direction and the driving information of the obstacle includes:
(1) If judge according to the position information of the obstacleThe obstacle is positioned right behind the own vehicle, assuming that the obstacle always maintains the current speed v Barrier And the movement direction, and in the course of changing lane of the bicycle, the movement direction and speed v of the bicycle Variable The method comprises the steps of keeping unchanged, and obtaining an included angle beta between the moving direction of the vehicle and the moving direction of the obstacle in the lane changing process;
(2) Defining the coordinates of the vehicle as a point A, the coordinates of the obstacle as a point B, and the vehicle is positioned at a point E when lane changing is completed, wherein the vertical foot of the point E in the movement direction of the obstacle is a point F, and the linear distance between the vehicle and the obstacle is L AB The time for the obstacle to move from point B to point F is t2; taking the movement direction of the obstacle as the Y direction, taking the vertical movement direction of the obstacle as the X direction, and presetting the safety distance between the self-vehicle and the obstacle in the Y direction as L Y The safety distance between the X-direction self-vehicle and the obstacle is L X The conditions that allow the lane change satisfy at least the following relation:
v rotation ·t2·sinβ≥L X (3)，
v Rotation ·t2·cosβ+L AB ≥v Barrier ·t+L Y (4)，
Wherein, the lane changing speed v of the bicycle Variable And the included angle beta is a preset value obtained according to experience, and the straight line distance L between the bicycle and the obstacle AB For detecting the value, the speed v of movement of the obstacle Barrier According to the identification of the obstacle scanning data, the safety distance L Y And a safety distance L X Is a set value.
It can be understood that in this embodiment, the above-mentioned relation (3) is a condition for judging whether the safe lane change is satisfied from the X direction, and the relation (4) is a condition for judging whether the safe lane change is satisfied from the Y direction, that is, whether the distance margin between the transverse direction and the longitudinal direction after lane change satisfies the safe lane change requirement is comprehensively evaluated through the transverse and longitudinal judgment.
In a possible embodiment, after obtaining the result of the determination as to whether the safety lane change requirement is met, the sending an alarm command to the bluetooth headset on the helmet according to the result of the determination includes:
if the safe lane change is judged, a lane change Bluetooth instruction is sent to a Bluetooth earphone on the helmet, and the Bluetooth earphone broadcasts a lane change voice prompt through voice;
if the invariable channel is judged, a Bluetooth instruction of the invariable channel is sent to a Bluetooth earphone on the helmet, and the Bluetooth earphone broadcasts a voice prompt of the invariable channel through voice.
It can be understood that through the bluetooth communication between the bluetooth headset on car and the helmet, convert dangerous information into bluetooth instruction, rethread bluetooth passageway is given the bluetooth headset in the helmet with the instruction, and bluetooth headset uses voice TTS to broadcast the newspaper with corresponding prompt after receiving the instruction to sound and tells the driver, avoids the driver to carry out the lane change because of not observing the rear vehicle to dangerous possibility appears. For example, when the safe lane change condition is satisfied, the bluetooth headset voice broadcasts "can safely change lane", and when the safe lane change condition is not satisfied, the bluetooth headset voice broadcasts "cannot change lane overtake at present". The Bluetooth headset is arranged, so that the interference to other irrelevant people during playing of external sound is avoided, and the noise pollution caused by broadcasting is avoided.
In order to realize the method of the foregoing embodiments, as shown in fig. 5, the present embodiment provides a lane-changing blind area monitoring and early warning system based on a bluetooth headset helmet, which includes an obstacle scanning module, a control module and a bluetooth headset, wherein the obstacle scanning module is disposed on a vehicle body, and the field of view of the obstacle scanning module covers a blind area of the vehicle, the bluetooth headset is disposed on the helmet,
the obstacle scanning module is used for acquiring obstacle scanning data of a vehicle blind area according to a vehicle lane change instruction;
the control module is used for sending out a vehicle lane change instruction according to the operation of a driver and acquiring self-vehicle running information, acquiring barrier scanning data of a vehicle blind area according to the vehicle lane change instruction, and identifying the position information, the movement speed and the movement direction of a barrier according to the barrier scanning data; the device is also used for judging whether the lane change condition is met according to the position information, the speed and the movement direction of the obstacle and the driving information of the bicycle, and sending an alarm instruction to a Bluetooth headset on the helmet according to a judgment result;
the Bluetooth headset is used for sending out voice prompts according to the alarm instruction.
In one possible embodiment, the obstacle scanning module is an ultrasonic radar, a millimeter wave radar or a lidar.
It can be understood that the lane-changing blind zone monitoring and early-warning system based on the bluetooth headset helmet provided by the invention corresponds to the lane-changing blind zone monitoring and early-warning method based on the bluetooth headset helmet provided by the foregoing embodiments, and the relevant technical features of the lane-changing blind zone monitoring and early-warning system based on the bluetooth headset helmet can refer to the relevant technical features of the lane-changing blind zone monitoring and early-warning method based on the bluetooth headset helmet, and are not repeated herein.
Referring to fig. 6, fig. 6 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 6, an embodiment of the present invention provides an electronic device 600, including a memory 610, a processor 620, and a computer program 611 stored in the memory 610 and executable on the processor 620, wherein the processor 620 executes the computer program 611 to implement the following steps:
acquiring vehicle running information, acquiring obstacle scanning data of a vehicle blind area according to a vehicle lane change instruction, and identifying position information, movement speed and movement direction of an obstacle according to the obstacle scanning data;
judging whether the lane change condition is met according to the position information, the speed and the movement direction of the obstacle and the self-driving information, and sending an alarm instruction to a Bluetooth headset on the helmet according to a judging result.
Referring to fig. 7, fig. 7 is a schematic diagram of an embodiment of a computer readable storage medium according to the present invention. As shown in fig. 7, the present embodiment provides a computer-readable storage medium 700 having stored thereon a computer program 711, which computer program 711, when executed by a processor, performs the steps of:
acquiring vehicle running information, acquiring obstacle scanning data of a vehicle blind area according to a vehicle lane change instruction, and identifying position information, movement speed and movement direction of an obstacle according to the obstacle scanning data;
judging whether the lane change condition is met according to the position information, the speed and the movement direction of the obstacle and the self-driving information, and sending an alarm instruction to a Bluetooth headset on the helmet according to a judging result.
The lane change blind area monitoring and early warning method, system and storage medium based on the Bluetooth headset helmet provided by the embodiment of the invention are based on the point cloud scanning devices arranged at the left, right and rear of a vehicle, and can be used for continuously detecting the blind areas at the two sides and rear of the vehicle in the running process of a two-wheel vehicle, so that the current position, running speed, running direction and other barrier information of other vehicles on a side lane can be detected within a certain range. Judging real-time lane change risks by taking obstacle information and movement information of the obstacles in the dead zone obtained by scanning as basis relative to the vehicle, if the lane change risks exist in the current situation, converting the dangerous information into Bluetooth instructions, sending the instructions to Bluetooth headphones in the helmet through the Bluetooth channels by the lane change early warning system, and informing a driver of corresponding prompt words by using voice TTS (time to talk) broadcasting after the instructions are received by the Bluetooth headphones, so that the possibility that the driver is dangerous because the lane change of a rear vehicle is not observed is avoided. The driver is pre-warned through the Bluetooth headset in the helmet, so that the interference to irrelevant personnel during pre-warning prompt is avoided.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A lane change blind area monitoring and early warning method based on a Bluetooth headset helmet is characterized by comprising the following steps:
acquiring vehicle running information, acquiring obstacle scanning data of a vehicle blind area according to a vehicle lane change instruction, and identifying position information, movement speed and movement direction of an obstacle according to the obstacle scanning data;
judging whether the lane change condition is met according to the position information, the speed and the movement direction of the obstacle and the self-driving information, and sending an alarm instruction to a Bluetooth headset on the helmet according to a judging result.
2. The lane change blind area monitoring and early warning method based on the Bluetooth headset helmet is characterized in that the obstacle scanning data are ultrasonic point cloud data, millimeter wave point cloud data or laser point cloud data.
3. The lane change blind zone monitoring and early warning method based on the Bluetooth headset helmet according to claim 1, wherein the identifying the position information, the movement speed and the movement direction of the obstacle according to the obstacle scanning data comprises the following steps:
calculating the movement speed and movement direction of the obstacle and the relative position relation between the obstacle and the vehicle according to the obstacle scanning data at the adjacent sampling time;
and obtaining the vehicle coordinate information according to the vehicle driving information, and calculating the position information of the obstacle according to the relative position relation and the vehicle coordinate information.
4. The lane-changing blind zone monitoring and early warning method based on the Bluetooth headset helmet according to claim 3, wherein judging whether lane-changing conditions are met according to position information, speed and movement direction of the obstacle and self-driving information comprises:
when it is determined that the obstacle is located at the rear side of the vehicle based on the position information of the obstacle, it is assumed that the obstacle always maintains the current speed v Barrier And the movement direction, and in the course of changing lane of the bicycle, the movement direction and speed v of the bicycle Variable The method comprises the steps of keeping unchanged, and obtaining an included angle beta between the moving direction of the vehicle and the moving direction of the obstacle in the lane changing process;
defining the coordinates of the vehicle as a point A, the coordinates of the obstacle as a point B, the intersection point of the movement direction of the vehicle and the movement direction of the obstacle during lane change as a point C, and the drop foot of the point A on a straight line BC as a point D, wherein the straight line distance between the vehicle and the obstacle is L AB The included angle between the movement direction of the obstacle and the line segment between the obstacle and the vehicle is alpha, and the displacement of the vehicle from the point A to the point C is S AC The time from the point B to the point C of the obstacle is t1; taking the movement direction of the obstacle as the Y direction, taking the vertical movement direction of the obstacle as the X direction, and presetting the safety distance between the self-vehicle and the obstacle in the Y direction as L Y The safety distance between the X-direction self-vehicle and the obstacle is L X The conditions that allow the lane change satisfy at least the following relation:
v barrier ·t1+L Y ≤v Variable ·t1·cosβ+L AB ·cosα，
L AB ·sinα+L X ≤v Variable ·t1·sinβ，
Wherein, the lane changing speed v of the bicycle Variable And the included angle beta is a preset value obtained according to experience, and the straight line distance L between the bicycle and the obstacle AB And the included angle alpha is a detection value, and the movement speed v of the obstacle Barrier According to the identification of the obstacle scanning data, the safety distance L Y And a safety distance L X Is a set value.
5. The lane-changing blind zone monitoring and early warning method based on the Bluetooth headset helmet according to claim 3 or 4, wherein the judging whether lane-changing conditions are met according to the position information, the speed and the movement direction of the obstacle and the driving information of the bicycle comprises the following steps:
if it is determined that the obstacle is located right behind the own vehicle based on the position information of the obstacle, it is assumed that the obstacle always maintains the current speed v Barrier And the movement direction, and in the course of changing lanes of the bicycle, the movement direction and speed of the bicyclev Variable The method comprises the steps of keeping unchanged, and obtaining an included angle beta between the moving direction of the vehicle and the moving direction of the obstacle in the lane changing process;
defining the coordinates of the vehicle as a point A, the coordinates of the obstacle as a point B, and the vehicle is positioned at a point E when lane changing is completed, wherein the vertical foot of the point E in the movement direction of the obstacle is a point F, and the linear distance between the vehicle and the obstacle is L AB The time for the obstacle to move from point B to point F is t2; taking the movement direction of the obstacle as the Y direction, taking the vertical movement direction of the obstacle as the X direction, and presetting the safety distance between the self-vehicle and the obstacle in the Y direction as L Y The safety distance between the X-direction self-vehicle and the obstacle is L X The conditions that allow the lane change satisfy at least the following relation:
v rotation ·t2·sinβ≥L X ，
v Rotation ·t2·cosβ+L AB ≥v Barrier ·t+L Y ，
Wherein, the lane changing speed v of the bicycle Variable And the included angle beta is a preset value obtained according to experience, and the straight line distance L between the bicycle and the obstacle AB For detecting the value, the speed v of movement of the obstacle Barrier According to the identification of the obstacle scanning data, the safety distance L Y And a safety distance L X Is a set value.
6. The lane change blind area monitoring and early warning method based on the Bluetooth headset helmet according to claim 1, wherein the sending an alarm command to the Bluetooth headset on the helmet according to the judgment result comprises the following steps:
if the safe lane change is judged, a lane change Bluetooth instruction is sent to a Bluetooth earphone on the helmet, and the Bluetooth earphone broadcasts a lane change voice prompt through voice;
if the invariable channel is judged, a Bluetooth instruction of the invariable channel is sent to a Bluetooth earphone on the helmet, and the Bluetooth earphone broadcasts a voice prompt of the invariable channel through voice.
7. A lane change blind area monitoring and early warning system based on a Bluetooth headset helmet is characterized by comprising an obstacle scanning module, a control module and a Bluetooth headset, wherein the obstacle scanning module is arranged on a vehicle body, the field of view of the obstacle scanning module covers the blind area of the vehicle, the Bluetooth headset is arranged on the helmet,
the obstacle scanning module is used for acquiring obstacle scanning data of a vehicle blind area according to a vehicle lane change instruction;
the control module is used for sending out a vehicle lane change instruction according to the operation of a driver and acquiring self-vehicle running information, acquiring barrier scanning data of a vehicle blind area according to the vehicle lane change instruction, and identifying the position information, the movement speed and the movement direction of a barrier according to the barrier scanning data; the device is also used for judging whether the lane change condition is met according to the position information, the speed and the movement direction of the obstacle and the driving information of the bicycle, and sending an alarm instruction to a Bluetooth headset on the helmet according to a judgment result;
the Bluetooth headset is used for sending out voice prompts according to the alarm instruction.
8. The lane change blind area monitoring and early warning system based on the Bluetooth headset helmet is characterized in that the obstacle scanning module is an ultrasonic radar, a millimeter wave radar or a laser radar.
9. An electronic device, comprising a memory and a processor, wherein the processor is configured to implement the lane change blind area monitoring and early warning method based on the bluetooth headset helmet according to any one of claims 1 to 6 when executing a computer management program stored in the memory.
10. A computer readable storage medium, wherein a computer management program is stored thereon, and the computer management program when executed by a processor implements the steps of the lane change blind area monitoring and early warning method based on the bluetooth headset helmet according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310842710.8A CN116863732A (en) | 2023-07-10 | 2023-07-10 | Lane-changing blind area monitoring and early warning method and system based on Bluetooth headset helmet |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310842710.8A CN116863732A (en) | 2023-07-10 | 2023-07-10 | Lane-changing blind area monitoring and early warning method and system based on Bluetooth headset helmet |
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| CN116863732A true CN116863732A (en) | 2023-10-10 |
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|---|---|---|---|
| CN202310842710.8A Pending CN116863732A (en) | 2023-07-10 | 2023-07-10 | Lane-changing blind area monitoring and early warning method and system based on Bluetooth headset helmet |
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| Country | Link |
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| CN (1) | CN116863732A (en) |
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